JP3296105B2 - Autonomous mobile robot - Google Patents

Autonomous mobile robot

Info

Publication number
JP3296105B2
JP3296105B2 JP20168994A JP20168994A JP3296105B2 JP 3296105 B2 JP3296105 B2 JP 3296105B2 JP 20168994 A JP20168994 A JP 20168994A JP 20168994 A JP20168994 A JP 20168994A JP 3296105 B2 JP3296105 B2 JP 3296105B2
Authority
JP
Japan
Prior art keywords
autonomous mobile
obstacle
mobile robot
danger signal
danger
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP20168994A
Other languages
Japanese (ja)
Other versions
JPH0863229A (en
Inventor
雄一 川上
Original Assignee
ミノルタ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ミノルタ株式会社 filed Critical ミノルタ株式会社
Priority to JP20168994A priority Critical patent/JP3296105B2/en
Publication of JPH0863229A publication Critical patent/JPH0863229A/en
Application granted granted Critical
Publication of JP3296105B2 publication Critical patent/JP3296105B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0203Cleaning or polishing vehicle
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0208Lawn mower

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle avoiding operation of an autonomous mobile robot in a work system in which a plurality of mobile work vehicles work simultaneously in the same work area.

[0002]

2. Description of the Related Art In the field of a conventional autonomous mobile robot, a cleaning device or a lawn mower or the like, such as a cleaning robot or a lawn mower, is provided with a traveling drive unit, sensors and a traveling control unit. 2. Description of the Related Art Various autonomous mobile work robots have been proposed in which a function is added and the work is automated by automatically traveling a preset route.

[0003] Such autonomous mobile work robots include:
A sensor that can detect the surrounding situation is attached,
When an obstacle which is an obstacle to the work is detected, the obstacle is stopped before colliding with the obstacle, the stop state is notified to the worker, and the operation waits until the obstacle is removed. Also,
In an example in which automation is further promoted, there is a configuration in which an operation of automatically avoiding an obstacle is performed so that work can be continued.

[0004]

However, in the above-described conventional autonomous mobile robot, a plurality of autonomous mobile robots have the same work area in order to speed up the work and to perform different works. Did not consider working inside. For this reason, when the autonomous mobile robots come close to each other, each of them recognizes the other autonomous mobile robot as an obstacle and waits for each other, so that a deadlock state occurs and the work is frequently interrupted. There was a problem.

[0005] In addition, there is another problem that if the vehicles having the obstacle avoidance function perform the obstacle avoidance operation, the operation is wasted and the traveling route is disturbed more than necessary.

An object of the present invention is to solve the above-mentioned conventional problems at the same time. Even when a plurality of autonomous mobile robots work in the same work area, they can work without collision or deadlock. It is another object of the present invention to provide an autonomous mobile robot capable of minimizing disturbance of a work route.

[0007]

To achieve the above object, an autonomous mobile robot according to the present invention comprises a traveling drive unit, an obstacle detecting means for detecting an obstacle, a dangerous area in a predetermined range in the moving direction, Danger signal transmitting means for transmitting a danger signal when the obstacle detection means detects an obstacle in a danger area, danger signal receiving means for receiving a danger signal from another autonomous mobile robot, and the obstacle detection means When an obstacle is detected in the danger zone, obstacle detection is performed again after a certain period of time.If no obstacle is detected, normal driving is continued.If an obstacle is detected, obstacle avoidance operation is performed. Performing, further comprising, when receiving a danger signal of the other autonomous mobile robot, a travel control unit that controls the travel drive unit to perform an operation of giving a path to the other autonomous mobile robot. Features and That.

Further, when the transmission of the danger signal and the reception of the danger signal occur simultaneously, the danger signal is transmitted again if the danger signal is not received again within a predetermined time from the time of occurrence. It has a function.

[0009]

According to the structure of the present invention, when an obstacle is detected in a danger zone, the vehicle temporarily stops or decelerates, and after a predetermined time has elapsed, if no obstacle is detected, normal traveling is continued. Performs an obstacle avoidance operation.

When a danger signal of another autonomous mobile robot is received, an operation of giving a path to the other autonomous mobile robot is performed.

Further, when the danger signal transmission and the danger signal reception from another autonomous mobile robot occur simultaneously, the danger signal is transmitted again at different time intervals, and the danger signal is received again first. Moves to an operation of giving a route to the other autonomous mobile robot.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings, taking a self-propelled floor cleaning robot as an example. Hereinafter, the self-propelled floor cleaning robot is simply referred to as an autonomous mobile robot.

FIGS. 1 and 2 show the overall configuration of an autonomous mobile robot according to a first embodiment of the present invention. In FIG. 1, 11
Is a main body of the floor cleaning robot, and 12L and 12R are driving wheels provided on the left and right of the bottom of the main body 11, respectively, and are independently driven by the driving motors 13L and 13R, respectively.
Reference numerals 14L and 14R denote rotation detectors including rotary encoders and the like connected to the drive wheels, respectively.
By detecting the number of rotations of the L · 12R shaft, it is possible to measure the traveling distance and detect the own position. 15F
15B is a driven wheel attached to the front and rear of the bottom of the main body 11.

As described above, a driving and steering device for moving the main body 11 by the driving wheels 12L and 12R, the driving motors 13L and 13R, and the driven wheels 15F and 15B is configured.

Reference numerals 16a to 16e denote sponges attached to the rear portion of the main body 11, each having a cylindrical shape, and having a bottom surface pressed against the floor. Also, sponges 16a-1
6e are respectively rotated by motors not shown,
The floor is rubbed. Sponge 16a-16
e is movable in the vertical direction, and can be brought into contact with the floor surface or detached from the floor surface as needed.

In FIG. 2, reference numeral 17 denotes a cleaning liquid tank provided inside the main body. The cleaning liquid contained in the tank is guided to sponges 16a to 16e by a pump 18 and opened at the center of the sponges 16a to 16e. It is dripped on the floor from the hole. The cleaning unit is constituted by the sponges 16a to 16e, the cleaning liquid tank 17, and the pump 18.

With the above configuration, the autonomous mobile robot cleans a predetermined area by driving the main body 11 by the driving and steering device while rubbing the floor surface while applying the cleaning liquid to the floor with the sponges 16a to 16e. It can be performed.

Reference numeral 19 denotes a controller including a central processing unit (hereinafter, referred to as a CPU) for controlling the entire autonomous mobile robot. Reference numerals 20a and 20b denote obstacle sensors (to be described in detail later) using ultrasonic waves or infrared light, which can detect an obstacle in the moving direction of the autonomous mobile robot in a non-contact manner. 20a if the robot is moving forward, 2 if the robot is moving backward.
0b detects an obstacle. Obstacle sensor 20a ・ 2
0b can measure the distance between the autonomous mobile robot and the obstacle, and outputs a danger signal described below when an obstacle in the movement direction is present in a danger zone (described in detail later).

The danger signal transmitters 21a and 21b can transmit danger signals to other autonomous mobile robots existing in the moving direction of the autonomous mobile robot by using infrared rays or the like. Reference numeral 22 denotes a danger signal receiver such as an infrared sensor. Since a plurality of danger signals are provided around the body of the autonomous mobile robot, danger signals from other autonomous mobile robots can be received from any direction in the surroundings. ing. 2
3 is an ultrasonic wave like the obstacle sensors 20a and 20b,
Alternatively, an obstacle sensor using infrared light, which is attached to the side of the main body, can detect an obstacle on the side of the autonomous mobile robot in a non-contact manner.

Here, the obstacle sensor will be described in detail. An obstacle sensor using ultrasonic waves is composed of an ultrasonic transmitter and an ultrasonic receiver, and transmits ultrasonic waves from the transmitter in the direction in which an obstacle is to be detected. A sound wave is received by a receiver. At this time,
By measuring the time from transmission to reception of the ultrasonic wave, the distance to the obstacle can be detected.

Also, the obstacle sensor using infrared light, like the obstacle sensor using ultrasonic waves, includes an infrared light emitter and an infrared light receiver.
Emit infrared light in the direction you want to detect obstacles from the light emitter,
The infrared light reflected by the obstacle is received by the light receiver.
At this time, the distance to the obstacle can be detected based on the intensity of the infrared light received by the light receiver.

In any of the methods, it is possible to set the detection range of the obstacle by adjusting the spread of the transmitted or emitted ultrasonic or infrared light.

FIG. 3 is an internal block diagram of the controller 19. In the figure, 31 is the drive wheel 12L-1 in FIG.
2R, drive motor 13L / 13R, driven wheel 15F / 1
5B. Travel drive unit 31
Is controlled by the traveling control unit 32 according to a command from the CPU 33. The CPU 33 and the travel control unit 32 constitute the travel control means of the present invention.

The CPU 33 operates in accordance with a program stored in a program memory (not shown), but is programmed to follow the route stored in the route map 34 when traveling control is performed. Also, the CPU 33
Receives the output of the obstacle sensor 20 and, while measuring the distance to the obstacle in the moving direction, appropriately changes the traveling route,
Perform an obstacle avoidance operation. Further, the CPU 33 can transmit a danger signal in the moving direction by the danger signal transmitter 21 at the time of detecting an obstacle, and can transmit a danger signal transmitted from another autonomous mobile robot via the danger signal receiver 22. Can be received.

As described above, the obstacle sensor 20 and the danger signal transmitter 21 are mounted on the forward side and the reverse side, and select a sensor to be used according to the moving direction.

Next, the operation when a plurality of (two) autonomous mobile robots work will be described with reference to the drawings. FIG. 4 shows an autonomous mobile robot A43 and an autonomous mobile robot B4.
4 shows a work route of FIG. Each autonomous mobile robot
In order to clean the same rectangular area 40, work paths 41, 4
2 is set. The work path 41 for the autonomous mobile robot A43 starts from the upper left of the rectangular area 40, and performs a cleaning operation of the entire rectangular area 40 by zigzag traveling in the vertical direction. Further, the work path 42 for the autonomous mobile robot B44 starts from the upper left of the rectangular area 40, and performs a cleaning operation of the entire rectangular area 40 by zigzag traveling in the lateral direction.

As described above, by performing the cleaning operation vertically and horizontally by the two autonomous mobile robots, the cleaning can be performed twice without any gap. Further, by making the autonomous mobile robot A43 and the autonomous mobile robot B44 work at the same time, the work time can be shortened as compared with working by one unit. The two autonomous mobile robots are given the same route as when working independently with only one robot, and there is no need for a special route to work with two robots simultaneously.

The general obstacle avoiding operation of the autonomous mobile robot will be described with reference to the flowcharts of FIGS. The numbers 601 to 606 in FIG. 5 correspond to the step numbers in the flowchart in FIG.

In FIG. 5, reference numeral 51 denotes an autonomous mobile robot A
Reference numeral 43 denotes a detection range of the obstacle detection sensor, reference numeral 52 denotes an obstacle on the route, and reference numeral 53 denotes a portion where cleaning work has been completed. When the autonomous mobile robot A43 traveling on the normal route in step 606 finds an obstacle ahead by the obstacle detection sensor in step 601, the autonomous mobile robot A43 proceeds to step 602 and moves forward to the obstacle. And the next step 6
At 03, the route is changed so as not to collide with the obstacle. Then, at step 604, the avoidance route is advanced. FIG. 5 (604)
The middle 55 is a detection range of the side obstacle detector, and moves forward while detecting an obstacle by the side obstacle detector,
When the obstacle is exceeded, the process proceeds to step 605 to return to the original route. Thereafter, the flow returns to step 606 to continue the normal route traveling.

In this example, the obstacle avoidance operation is performed while detecting the obstacle by detecting the obstacle by the non-contact sensor 23 on the side. However, the contact-type sensor provided around the main body is used. The obstacle avoiding operation may be performed while contacting the obstacle and performing the copying operation. In any case, according to such an obstacle avoiding operation, the part 5 where the planned work could not be performed in the part moved to the avoidance route.
4 will occur.

If the obstacle found on the route is a stationary obstacle, it is unavoidable to change the scheduled route and continue the work as described above. Creating a leftover area is basically not preferred. Therefore, when the obstacle is a moving object like another autonomous mobile robot, it is preferable to avoid the collision without changing the planned route.

For this reason, in this embodiment, by providing a function of transmitting and receiving a danger signal to the autonomous mobile robot, if the detected obstacle ahead is another autonomous mobile robot, the route is changed. It takes a way to avoid collisions without having to.

The collision avoiding operation of the autonomous mobile robot according to the present embodiment will be described below with reference to the flowcharts of FIGS. In FIG. 7 (701), reference numeral 43 denotes an autonomous mobile robot A, 44 denotes an autonomous mobile robot B, 51 denotes a danger area of the autonomous mobile robot A, and 71 denotes a danger area of the autonomous mobile robot B. The danger zones 51 and 71 are fan-shaped ranges that extend forward in the moving direction of the autonomous mobile robot, so that obstacles within a certain distance in the moving direction can be detected.

When the autonomous mobile robot moves while following the route and detects an object in the dangerous area by the obstacle sensor 20 while working, it is regarded that an obstacle has been detected.
For example, the positional relationship in FIG. 7 (701) represents the time when the autonomous mobile robot A detects the autonomous mobile robot B as an obstacle in front of it.

Both the autonomous mobile robots A and B are programmed to perform the operation shown in the flowchart of FIG.
The part (a) in FIG. 8 is an interrupt routine, and always jumps to step 810 when a danger signal is received (details will be described later).

Normally (when no obstacle is detected in step 801), the autonomous mobile robot repeats steps 800 and 801 for both A and B, and works while traveling on a normal route. Here, when the autonomous mobile robot A detects an obstacle forward in step 801, the operation is temporarily stopped (step 802), and a danger signal is transmitted (step 803). The positional relationship at this point is shown in FIG.

The autonomous mobile robot A performs the following step 80
At 4 a standby state is entered for a fixed time. At this time, the autonomous mobile robot B receives the danger signal transmitted from the autonomous mobile robot A.
Jumps to step 810 due to the interruption, and determines in the next step 811 whether or not the user is currently sending a danger signal. In the positional relationship of FIG. 7 (702),
The autonomous mobile robot B does not transmit a danger signal because it has not detected an obstacle ahead. Therefore, in this case, the process proceeds to step 812.

In step 812, it is determined whether or not the subject is currently in the evacuation state. At this point, since the autonomous mobile robot B is not in the evacuation state, the process proceeds to step 813, and the evacuation behavior such as retreating by a certain distance is performed. Then, the process moves to the evacuation state of the next step 814. The positional relationship at this time is shown in FIG. The autonomous mobile robot B in the evacuation state does not operate the obstacle sensor during this time.

The autonomous mobile robot A, which has been in the standby state in step 804, proceeds to step 805 after a lapse of a predetermined time and performs the obstacle detection operation again. Based on this result,
The user selects whether to perform an obstacle avoidance operation or to continue traveling on a normal route. In this example, what we recognized as an obstacle
Since the autonomous mobile robot B is retracted and is in the evacuation state as described above, Step 8
At the time when the obstacle detection operation is performed in 05, the obstacle in front is gone. In this case, the process returns to the normal route driving in step 800. The positional relationship at this time is shown in FIG. 7 (704).

If the obstacle is a fixed obstacle, there is no change in the position of the obstacle while the autonomous mobile robot A is on standby. Remains present. In such a case, the process proceeds to step 806, and the obstacle avoiding operation described with reference to FIG. 6 is performed. The autonomous mobile robot B, which has been in the evacuation state for a certain period of time, also proceeds to step 800, and continues normal work as shown in FIG. 7 (705).

Here, the standby state in step 804 is a standby state for at least the time required for the autonomous mobile robot (autonomous mobile robot B in the above example) that has received the danger signal to retreat a fixed distance and move to the evacuation state. It is set as follows. In addition, the evacuation state in step 814 indicates that the autonomous mobile robot that transmitted the danger signal (autonomous mobile robot A in the above example)
Is set in a retracted state for a time required to avoid or pass an obstacle in front. In addition, the output of the danger signal transmitter and the sensitivity of the danger signal receiver are adjusted so that the danger signal output at the time of detecting the obstacle reaches almost the autonomous mobile robot in the danger area.

In the above-described example, since the dangerous area is set to a range close to the moving direction, the autonomous mobile robot A stops when an obstacle is detected in the dangerous area. The same effect can be obtained by transmitting a danger signal and reducing the forward speed when an obstacle is found in the area.

Next, a case where the autonomous mobile robot A and the autonomous mobile robot B approach each other and simultaneously detect a partner will be described with reference to FIG. 9 and the flowchart of FIG. (901) in FIG. 9 shows a state in which the autonomous mobile robot A and the autonomous mobile robot B simultaneously detect the other party. From this state, both autonomous mobile robots proceed to Step 801, Step 802, and Step 803 in the same manner as in the example of FIG.
2)).

In this case, since the autonomous mobile robots A and B both receive the danger signal and simultaneously receive the danger signal of the other party, the process jumps to step 810. At this time, since the autonomous mobile robots A and B are both transmitting the danger signal, the process proceeds from the next step 811 to step 815,
Attempts are made to proceed to step 803 with a certain time interval. This state is shown in FIG. 9 (903). It should be noted that the transmission of the danger signal has been completed when the process proceeds to step 815.

Here, as the time interval of step 815, a different time interval is set for each autonomous mobile robot. By doing so, one of the autonomous mobile robots A and B proceeds to step 803 earlier, and again sends a danger signal. For example, if the autonomous mobile robot A proceeds to step 803 first and outputs a danger signal, the autonomous mobile robot B receives the danger signal of the autonomous mobile robot A, and jumps to step 810 again. This state is shown in FIG. 9 (904).

Since the danger signal is not being transmitted this time,
The process proceeds from the next step 811 to step 812. At step 812, it is determined whether or not the robot is currently in the retreat state. At this point, since the autonomous mobile robot B is not in the retreat state, the process proceeds to step 813, and after retreating by a certain distance, moves to the retreat state in step 814. This state is shown in FIG.
It is shown in 5).

After transmitting the danger signal, the autonomous mobile robot A waits in step 804 and performs an obstacle detection operation again in step 805, as in the above-described example. No forward obstacle is detected, and the routine proceeds from step 805 to step 800 to continue normal traveling. This state is shown in FIG. 9 (906).

Also, the autonomous mobile robot B, which has been in the evacuation state for a predetermined time, shifts to step 800, and
Continue normal work as shown in 7).

As described above, when the transmission of the danger signal and the reception of the danger signal occur simultaneously, the time interval until the transmission of the danger signal again is set to a different value for each autonomous mobile robot.
By giving priority to danger signals from other autonomous mobile robots, even if they detect each other at the same time, one of them will transfer to the other autonomous mobile robot to give way to the other, so it will yield to each other and deadlock Never fall into a state. The same effect can be obtained by randomly setting the time interval from the detection of an obstacle to the transmission of a danger signal.

In the examples of FIGS. 7 and 9 described above, an example of a retreat operation of retreating and stopping as an operation of giving a path to the other autonomous mobile robot has been described.
The retreat operation is not limited to retreat, and it may be more effective to change the retreat direction depending on the direction in which the autonomous mobile robots approach each other. As an example of this, there is a method of changing the evacuation direction according to the direction of receiving the danger signal. In this embodiment, the danger signal receiver is mounted around the robot body so as to be able to receive the danger signal from all directions. In which direction the source is located can be detected.

For example, when the autonomous mobile robot A approaches the autonomous mobile robot B from the side as shown in FIG. In order to receive the signal from the lateral direction, the evacuation operation is performed by the retreat operation, so that the moving path is given to the autonomous mobile robot A.

Next, FIG. 10 shows a state in which the autonomous mobile robot A and the autonomous mobile robot B approach each other facing each other. The numbers 901 'to 907' in FIG. 10 correspond to the numbers 901 to 907 in FIG.

FIG. 10 (901 ') to FIG.
The movement up to 3 ′) is the same as in the case of FIG. 9 described above. In FIG. 10 (904 '), the autonomous mobile robot B
Receives the danger signal of the autonomous mobile robot A from the front in the moving direction. In this case,
The moving route can be given to the autonomous mobile robot A by the evacuation behavior (FIG. 10 (905 ')). FIG. 10 (90
After the evacuation state is maintained at the position 6 ') for a certain period of time, the vehicle returns to the normal route by lateral movement (FIG. 10 (907')).

As another method for determining the retreat direction, the detection range is divided as shown in FIG.
By using an obstacle detector capable of detecting the direction of the obstacle, a method of detecting the direction of the obstacle when a danger signal is received and changing the evacuation direction according to the direction may be considered.

Further, the autonomous mobile robot of the present case has the configuration shown in FIG.
As shown in (2), a second danger zone 57 is provided on the side of the danger zone close to the robot body, and the obstacle detector detects a danger when an obstacle existing in the traveling direction is in the second danger zone. It has a function to transmit a second danger signal instead of a signal in the direction of travel, and when it receives the first danger signal transmitted by another autonomous mobile robot, it decelerates or stops and stops the other autonomous mobile robot. When the second danger signal is received, a configuration is also conceivable in which an evacuation operation by retreating or moving in the lateral direction is performed to give a path to the other autonomous mobile robot. .

In this embodiment, two autonomous mobile robots are used.
Although the description has been made of the case where the number of the autonomous mobile robots is three, it is needless to say that the same operation and effect can be obtained when three or more autonomous mobile robots move in the same area.

Next, a description will be given of a second embodiment which is a modification of the above-described first embodiment. The description of the same parts as in the first embodiment will be omitted, and only the characteristic parts of the second embodiment will be described.

The second embodiment is based on the premise that two autonomous mobile robots move in the same area. One autonomous mobile robot only transmits a danger signal, and the other autonomous mobile robot only receives a danger signal. It is what was constituted.

The autonomous mobile robot on the danger signal transmitting side (hereinafter, the autonomous mobile robot A) is the autonomous mobile robot of the first embodiment except for the danger signal receiver 22.
The autonomous mobile robot on the danger signal receiving side (hereinafter, the autonomous mobile robot B) is the autonomous mobile robot of the first embodiment except for the danger signal transmitter 21.

The autonomous mobile robot A is designed to be able to detect obstacles in any directions around it, and when it detects an obstacle, it sends a danger signal in the direction of the obstacle and takes a standby state. The autonomous mobile robot A performs the obstacle detection operation again after a lapse of a predetermined time. Based on the result, whether to perform the obstacle avoiding operation or to continue the normal route traveling is selected. An autonomous mobile robot B is recognized as an obstacle
In this case, since the autonomous mobile robot B is in the retreat state (details will be described later), there is no obstacle ahead. In this case, the vehicle returns to the normal route traveling.

If the obstacle is a fixed obstacle, there is no change in the position of the obstacle while the autonomous mobile robot A is on standby, so the obstacle was present even when the obstacle detection operation was performed again. Remains. In such a case, the obstacle avoiding operation described with reference to FIG. 6 is performed.

When the danger signal is received, the autonomous mobile robot B yields to the autonomous mobile robot A according to the direction in which the danger signal is received, and takes the evacuation state (for example, when the danger signal is received from the lateral direction). At that time, retreat and take the evacuation state). The autonomous mobile robot B returns to normal running after performing the evacuation operation for a certain period of time.

When the autonomous mobile robot B detects an obstacle in the moving direction and does not receive a danger signal at that time, the detected obstacle is not the autonomous mobile robot A but a fixed obstacle. In such a case, the obstacle avoiding operation described with reference to FIG. 6 is performed.

As described above, if one of the two autonomous mobile robots is dedicated to transmitting a danger signal and the other is dedicated to receiving a danger signal, the danger signal is always received when the two autonomous mobile robots approach each other. The dedicated autonomous mobile robot (autonomous mobile robot B in the above example) yields the route, and the control becomes simpler than in the first embodiment.

[0065]

As described above, the present invention performs an avoiding action on an obstacle that must be avoided, and does not enter a deadlock state when the autonomous mobile robots approach each other. , One will always give way. That is, when a plurality of autonomous mobile robots work in the same work area, it is possible to realize an autonomous mobile robot that can avoid collision of the autonomous mobile robots and does not needlessly avoid the action.

Further, when the danger signal is transmitted and the danger signal of another autonomous mobile robot is simultaneously received, the danger signal is first received again, and the operation moves to yield the path to the other autonomous mobile robot. That means one side is guaranteed to give way.

[Brief description of the drawings]

FIG. 1 is a bottom view of an autonomous mobile robot according to an embodiment of the present invention.

FIG. 2 is a longitudinal sectional view of the autonomous mobile robot according to the embodiment of the present invention.

FIG. 3 is a control block diagram of the autonomous mobile robot in the embodiment of the present invention.

FIG. 4 is an explanatory diagram of a work route of the autonomous mobile robot according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram of an obstacle avoiding operation of a general autonomous mobile robot.

FIG. 6 is a flowchart of an obstacle avoidance operation of a general autonomous mobile robot.

FIG. 7 is an explanatory diagram of a collision avoidance operation of the autonomous mobile robot in the embodiment of the present invention.

FIG. 8 is a flowchart of a collision avoidance operation of the autonomous mobile robot in the embodiment of the present invention.

FIG. 9 is an explanatory diagram of a collision avoidance operation of the autonomous mobile robot in the embodiment of the present invention.

FIG. 10 is a diagram illustrating a collision avoidance operation of the autonomous mobile robot according to the embodiment of the present invention.

FIG. 11 is an explanatory diagram of an obstacle detector having a divided detection range.

FIG. 12 is an explanatory view of an obstacle detector provided with a second dangerous area.

[Explanation of symbols]

 Reference Signs List 20 obstacle sensor 21 danger signal transmitter 22 danger signal receiver 23 side obstacle detector 31 traveling drive unit 32 traveling control unit 33 CPU

Claims (3)

(57) [Claims]
1. A traveling drive unit, an obstacle detecting means for detecting an obstacle, and a predetermined area in a moving direction as a danger area, and a danger signal is output when the obstacle detection means detects an obstacle in the danger area. Danger signal transmitting means for transmitting, danger signal receiving means for receiving a danger signal from another autonomous mobile robot,
When an obstacle is detected in the dangerous area by the obstacle detection means, after a predetermined time, obstacle detection is performed again.If no obstacle is detected, normal traveling is continued. A traveling control that performs an obstacle avoiding operation and, when receiving a danger signal of the other autonomous mobile robot, controls the traveling drive unit to perform an operation of giving way to the other autonomous mobile robot. An autonomous mobile robot having means.
2. When the transmission of the danger signal and the reception of the danger signal occur at the same time, the danger signal is transmitted again if the danger signal is not received again within a predetermined time after the occurrence of the danger signal. The autonomous mobile robot according to claim 1, further comprising transmission control means for controlling the danger signal transmission means.
3. The autonomous mobile robot according to claim 1, wherein a plurality of said obstacle detecting means and a plurality of said danger signal receiving means are provided.
JP20168994A 1994-08-26 1994-08-26 Autonomous mobile robot Expired - Lifetime JP3296105B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP20168994A JP3296105B2 (en) 1994-08-26 1994-08-26 Autonomous mobile robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP20168994A JP3296105B2 (en) 1994-08-26 1994-08-26 Autonomous mobile robot
US08/518,819 US5652489A (en) 1994-08-26 1995-08-24 Mobile robot control system

Publications (2)

Publication Number Publication Date
JPH0863229A JPH0863229A (en) 1996-03-08
JP3296105B2 true JP3296105B2 (en) 2002-06-24

Family

ID=16445276

Family Applications (1)

Application Number Title Priority Date Filing Date
JP20168994A Expired - Lifetime JP3296105B2 (en) 1994-08-26 1994-08-26 Autonomous mobile robot

Country Status (2)

Country Link
US (1) US5652489A (en)
JP (1) JP3296105B2 (en)

Families Citing this family (114)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5819008A (en) * 1995-10-18 1998-10-06 Rikagaku Kenkyusho Mobile robot sensor system
US6574536B1 (en) * 1996-01-29 2003-06-03 Minolta Co., Ltd. Moving apparatus for efficiently moving on floor with obstacle
NL1002487C2 (en) * 1996-02-29 1997-09-01 Maasland Nv Construction with animal housing equipment.
JPH10105236A (en) * 1996-09-30 1998-04-24 Minolta Co Ltd Positioning device for traveling object and its method
US6173215B1 (en) * 1997-12-19 2001-01-09 Caterpillar Inc. Method for determining a desired response to detection of an obstacle
SG104252A1 (en) * 1998-03-27 2004-06-21 Yong Sang Yap Electrical mop
US7363124B1 (en) * 1998-12-21 2008-04-22 The United States Of America As Represented By The Secretary Of The Navy Disperse, aggregate and disperse (DAD) control strategy for multiple autonomous systems to optimize random search
US6577925B1 (en) 1999-11-24 2003-06-10 Xerox Corporation Apparatus and method of distributed object handling
US6278907B1 (en) * 1999-11-24 2001-08-21 Xerox Corporation Apparatus and method of distributing object handling
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US8412377B2 (en) * 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US7155308B2 (en) 2000-01-24 2006-12-26 Irobot Corporation Robot obstacle detection system
US8788092B2 (en) * 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US6594844B2 (en) * 2000-01-24 2003-07-22 Irobot Corporation Robot obstacle detection system
AT412196B (en) * 2000-03-17 2004-11-25 Keba Ag Method for assigning a mobile operating and / or observation device to a machine and operating and / or observation device therefor
JP2002164409A (en) * 2000-11-29 2002-06-07 Tokyo Electron Ltd Transfer apparatus, substrate processing apparatus and substrate processing system
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US7663333B2 (en) 2001-06-12 2010-02-16 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
ES2188411B1 (en) * 2001-11-12 2004-06-01 Universidad De Malaga. Robotic vehicle with autonomous navigation capacity given with articulated arm for remote handling of objects.
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US6883201B2 (en) * 2002-01-03 2005-04-26 Irobot Corporation Autonomous floor-cleaning robot
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US8386081B2 (en) * 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
SE0201739D0 (en) * 2002-06-07 2002-06-07 Electrolux Ab An electronic bordering system
US6895301B2 (en) * 2002-07-15 2005-05-17 Distrobot Systems, Inc. Material handling system using autonomous mobile drive units and movable inventory trays
US6748292B2 (en) 2002-07-15 2004-06-08 Distrobot Systems, Inc. Material handling method using autonomous mobile drive units and movable inventory trays
US6950722B2 (en) 2002-07-15 2005-09-27 Distrobot Systems, Inc. Material handling system and method using mobile autonomous inventory trays and peer-to-peer communications
AU2003256435A1 (en) * 2002-08-16 2004-03-03 Evolution Robotics, Inc. Systems and methods for the automated sensing of motion in a mobile robot using visual data
AU2003262893A1 (en) 2002-08-21 2004-03-11 Neal Solomon Organizing groups of self-configurable mobile robotic agents
EP1587725B1 (en) * 2002-08-30 2013-12-25 Aethon, Inc. Robotic cart pulling vehicle
KR100492588B1 (en) * 2003-01-23 2005-06-03 엘지전자 주식회사 Position information recognition apparatus for automatic running vacuum cleaner
KR100548272B1 (en) * 2003-07-23 2006-02-02 엘지전자 주식회사 Position detection apparatus and method for mobile robot
KR101460867B1 (en) 2004-01-21 2014-11-17 아이로보트 코퍼레이션 Method of docking an autonomous robot
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
WO2005092192A1 (en) * 2004-03-29 2005-10-06 Matsushita Electric Industrial Co., Ltd. Optical element for measuring biological information and biological information measuring instrument using it
DE112005000738T5 (en) 2004-03-29 2007-04-26 Evolution Robotics, Inc., Pasadena Method and device for determining position using reflected light sources
EP1738232A4 (en) * 2004-04-22 2009-10-21 Frontline Robotics Open control system architecture for mobile autonomous systems
AT536577T (en) 2004-06-24 2011-12-15 Irobot Corp Remote control device and method for an autonomous robot device
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US7341224B1 (en) * 2004-10-14 2008-03-11 Osann Jr Robert Miniature expendable surveillance balloon system
JP4348276B2 (en) * 2004-11-02 2009-10-21 本田技研工業株式会社 Robot controller
US7620476B2 (en) * 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
EP2279686B1 (en) 2005-02-18 2012-11-14 iRobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8306662B2 (en) 2005-04-23 2012-11-06 Lg Electronics Inc. Position detection device for mobile robot and robot cleaner including the same
KR100638220B1 (en) * 2005-04-23 2006-10-18 엘지전자 주식회사 Position sensing device of mobile robot and robot cleaner equipped with it
JP4621073B2 (en) 2005-05-23 2011-01-26 本田技研工業株式会社 Robot controller
US7894933B2 (en) * 2005-07-19 2011-02-22 Kiva Systems, Inc. Method and system for retrieving inventory items
US9330373B2 (en) 2005-07-19 2016-05-03 Amazon Technologies, Inc. Method and system for storing inventory holders
US7894932B2 (en) * 2005-07-19 2011-02-22 Kiva Systems, Inc. Method and system for replenishing inventory items
US8483869B2 (en) 2005-07-19 2013-07-09 Amazon Technologies, Inc. Method and system for fulfilling requests in an inventory system
US9026301B2 (en) 2005-10-14 2015-05-05 Aethon, Inc. Robotic ordering and delivery system software and methods
EP2544066B1 (en) 2005-12-02 2018-10-17 iRobot Corporation Robot system
EP2816434A3 (en) 2005-12-02 2015-01-28 iRobot Corporation Autonomous coverage robot
ES2623920T3 (en) 2005-12-02 2017-07-12 Irobot Corporation Robot system
DE602006009149D1 (en) 2005-12-02 2009-10-22 Irobot Corp Modular robot
EP2120122B1 (en) 2005-12-02 2013-10-30 iRobot Corporation Coverage robot mobility
EP1996987B1 (en) 2006-03-17 2018-10-31 iRobot Corporation Robot confinement
EP2548492B1 (en) 2006-05-19 2016-04-20 iRobot Corporation Removing debris from cleaning robots
JP5082298B2 (en) * 2006-05-25 2012-11-28 トヨタ自動車株式会社 Autonomous mobile device
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
JP4756367B2 (en) * 2006-08-17 2011-08-24 株式会社ダイフク Goods storage equipment
US20080229885A1 (en) * 2007-03-22 2008-09-25 Mah Pat Y Jar opener
EP2155032B1 (en) 2007-05-09 2015-12-02 iRobot Corporation Compact autonomous coverage robot
EP2322071A4 (en) 2008-08-08 2012-01-18 Panasonic Corp Control device and control method for cleaner, cleaner, control program for cleaner, and integrated electronic circuit
JP5073609B2 (en) * 2008-08-11 2012-11-14 日東電工株式会社 Manufacturing method of optical waveguide
JP5208649B2 (en) * 2008-09-29 2013-06-12 本田技研工業株式会社 Mobile device
JP5063549B2 (en) * 2008-09-29 2012-10-31 本田技研工業株式会社 Mobile device
EP2581797A1 (en) * 2009-05-15 2013-04-17 Samsung Electronics Co., Ltd Beacon collision avoidance method for a mobile robot system
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
KR20140134337A (en) 2010-02-16 2014-11-21 아이로보트 코퍼레이션 Vacuum brush
JP5560979B2 (en) * 2010-07-13 2014-07-30 村田機械株式会社 Autonomous mobile
EP2749356A3 (en) 2010-07-23 2014-10-08 Beckman Coulter, Inc. System or method of including analytical units
US8742926B2 (en) 2010-12-30 2014-06-03 Irobot Corporation Debris monitoring
US9436185B2 (en) 2010-12-30 2016-09-06 Irobot Corporation Coverage robot navigating
CN107272678A (en) 2011-04-11 2017-10-20 克朗设备公司 The method and apparatus that multiple automatic incomplete vehicles are effectively dispatched using coordinated path planner
ES2689169T3 (en) 2011-05-13 2018-11-08 Beckman Coulter, Inc. System and method that includes laboratory product transport element
BR112013029236A2 (en) 2011-05-13 2017-09-26 Beckman Coulter Inc laboratory product transport element and path layout
WO2013013106A1 (en) * 2011-07-19 2013-01-24 Brittmore Group LLC Installation system for photovoltaic modules
US20140058634A1 (en) 2012-08-24 2014-02-27 Crown Equipment Limited Method and apparatus for using unique landmarks to locate industrial vehicles at start-up
BR112014011035A2 (en) 2011-11-07 2017-06-13 Beckman Coulter Inc aliquot system and workflow
CN103975245A (en) 2011-11-07 2014-08-06 贝克曼考尔特公司 Magnetic damping for specimen transport system
CN104040352B (en) 2011-11-07 2016-09-07 贝克曼考尔特公司 Mechanical arm
WO2013070744A2 (en) 2011-11-07 2013-05-16 Beckman Coulter, Inc. Specimen container detection
WO2013070756A2 (en) 2011-11-07 2013-05-16 Beckman Coulter, Inc. System and method for processing samples
WO2013070755A2 (en) 2011-11-07 2013-05-16 Beckman Coulter, Inc. Centrifuge system and workflow
EP2776216A4 (en) * 2011-11-11 2015-12-30 Irobot Corp Scaling vector field slam to large environments
ITMI20120902A1 (en) * 2012-05-24 2013-11-25 Inpeco Ip Ltd Automation System distributed for laboratory diagnostics.
CN104704374B (en) 2012-09-14 2016-10-12 贝克曼考尔特公司 There is the analysis system of capillary tube connecting gear
US9044863B2 (en) 2013-02-06 2015-06-02 Steelcase Inc. Polarized enhanced confidentiality in mobile camera applications
KR102020215B1 (en) * 2013-03-23 2019-09-10 삼성전자주식회사 Robot cleaner and method for controlling the same
US9554508B2 (en) 2014-03-31 2017-01-31 Irobot Corporation Autonomous mobile robot
TWI561199B (en) * 2014-08-11 2016-12-11 Wistron Corp Interference system and computer system thereof for robot cleaner
GB2529847B (en) 2014-09-03 2018-12-19 Dyson Technology Ltd A mobile Robot with Independently Adjustable Light Sources
GB2529846B (en) 2014-09-03 2019-02-20 Dyson Technology Ltd Illumination Control of a Vision System for a Mobile Robot
US9516806B2 (en) 2014-10-10 2016-12-13 Irobot Corporation Robotic lawn mowing boundary determination
US9510505B2 (en) 2014-10-10 2016-12-06 Irobot Corporation Autonomous robot localization
US9965962B1 (en) * 2014-11-11 2018-05-08 Skyward IO, Inc. Aerial robotics network management infrastructure
TWI627609B (en) * 2014-12-04 2018-06-21 微星科技股份有限公司 Status detecting method, robot and mobile device
US9420741B2 (en) 2014-12-15 2016-08-23 Irobot Corporation Robot lawnmower mapping
US9538702B2 (en) 2014-12-22 2017-01-10 Irobot Corporation Robotic mowing of separated lawn areas
KR20160097051A (en) * 2015-02-06 2016-08-17 삼성전자주식회사 Apparatus for returning of robot and returning method thereof
WO2016142794A1 (en) 2015-03-06 2016-09-15 Wal-Mart Stores, Inc Item monitoring system and method
US10358326B2 (en) 2015-03-06 2019-07-23 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods
US10034421B2 (en) 2015-07-24 2018-07-31 Irobot Corporation Controlling robotic lawnmowers
US10021830B2 (en) 2016-02-02 2018-07-17 Irobot Corporation Blade assembly for a grass cutting mobile robot
US10459063B2 (en) 2016-02-16 2019-10-29 Irobot Corporation Ranging and angle of arrival antenna system for a mobile robot
CA2961938A1 (en) 2016-04-01 2017-10-01 Wal-Mart Stores, Inc. Systems and methods for moving pallets via unmanned motorized unit-guided forklifts
CN107797550A (en) * 2016-09-01 2018-03-13 松下电器(美国)知识产权公司 Autonomous formula robot, method and non-transient recording medium
JP2018101191A (en) * 2016-12-19 2018-06-28 富士ゼロックス株式会社 Mobile device
US10427162B2 (en) 2016-12-21 2019-10-01 Quandx Inc. Systems and methods for molecular diagnostics
US10282995B2 (en) * 2017-09-05 2019-05-07 Starship Technologies Oü Mobile robot having collision avoidance system for crossing a road from a pedestrian pathway

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH650738A5 (en) * 1980-11-14 1985-08-15 Inventio Ag Device for keeping the tracked vehicles.
US5280431A (en) * 1985-08-30 1994-01-18 Texas Instruments Incorporated Method for controlling the movements of a mobile robot in a multiple node factory
JPH0785205B2 (en) * 1985-08-30 1995-09-13 テキサス インスツルメンツインコ−ポレイテツド Fail-safe braking system for multi-wheel vehicles whose steering is controlled by a motor
US4780817A (en) * 1986-09-19 1988-10-25 Ndc Technologies, Inc. Method and apparatus for providing destination and vehicle function information to an automatic guided vehicle
US4802096A (en) * 1987-05-14 1989-01-31 Bell & Howell Company Controlled direction non-contact detection system for automatic guided vehicles
DE3730105A1 (en) * 1987-09-08 1989-03-16 Pietzsch Ibp Gmbh Method and device for securing a vehicle or device moving in space
JP2636403B2 (en) * 1989-03-08 1997-07-30 株式会社豊田自動織機製作所 Operation control device for unmanned vehicles
US5179329A (en) * 1989-04-25 1993-01-12 Shinko Electric Co., Ltd. Travel control method, travel control device, and mobile robot for mobile robot systems
JP2679346B2 (en) * 1990-03-28 1997-11-19 神鋼電機株式会社 Charging control method for mobile robot system
US5434490A (en) * 1992-07-31 1995-07-18 Daifuku Co., Ltd. Article transport system
US5548511A (en) * 1992-10-29 1996-08-20 White Consolidated Industries, Inc. Method for controlling self-running cleaning apparatus
JP3244873B2 (en) * 1993-07-02 2002-01-07 キヤノン株式会社 Ophthalmic equipment

Also Published As

Publication number Publication date
JPH0863229A (en) 1996-03-08
US5652489A (en) 1997-07-29

Similar Documents

Publication Publication Date Title
US20190133395A1 (en) Cleaning robot and controlling method thereof
US20180000300A1 (en) Robot cleaner
JP6392269B2 (en) Autonomous Coverage Robot Navigation System
WO2018053942A1 (en) Mobile robot and navigation method therefor
JP2016032655A (en) Coverage robot navigation
DE102004018670B4 (en) Apparatus and method for detecting a position of a mobile robot
US20160311431A1 (en) Autonomous driving vehicle system
US7133746B2 (en) Autonomous machine for docking with a docking station and method for docking
DE10152927B4 (en) Autonomous motor device with an obstacle avoidance function
EP2370870B1 (en) Multiple zone sensing for materials handling vehicles
KR100466321B1 (en) Robot cleaner, system thereof and method for controlling the same
EP2312412B1 (en) Docking station for a cleaning robot with spatially coded guiding signals
EP1462899B1 (en) System and method for controlling a vehicle having multiple control modes
US5111401A (en) Navigational control system for an autonomous vehicle
KR101503418B1 (en) Semiautomatic parking machine
US6076025A (en) Mobile robot steering method and control device
US7860608B2 (en) Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot
DE19511210B4 (en) Obstacle warning device and obstacle warning method for a vehicle
JP4021344B2 (en) Vehicle driving support device
US8494675B2 (en) Autonomous mobile robot device and an avoidance method for that autonomous mobile robot device
US6859730B2 (en) Monitor system of vehicle outside and method of monitoring same
US6834254B2 (en) Monitor system of vehicle outside and the method thereof
WO2019056872A1 (en) Fully automated parking method, and fully automated parking system
US5758298A (en) Autonomous navigation system for a mobile robot or manipulator
JP2015513161A (en) Autonomous mobile ground treatment robot and control method for cleaning operation thereof

Legal Events

Date Code Title Description
FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20080412

Year of fee payment: 6

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20090412

Year of fee payment: 7

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20090412

Year of fee payment: 7

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20100412

Year of fee payment: 8

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20110412

Year of fee payment: 9

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20120412

Year of fee payment: 10

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130412

Year of fee payment: 11

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140412

Year of fee payment: 12

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313111

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313113

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

EXPY Cancellation because of completion of term